10 papers
Line-Augmented cuVSLAM: Robust Visual Odometry in Low-Texture Environments
Dara Molloy, Terry Wu, Wonju Lee +4
Autonomous mobile robots in warehouses and production facilities operate in precisely the environments that defeat point-feature visual odometry: featureless aisles, uniform walls,…
Smart Fusion for Adaptive Visual-IMU Weighting in cuVSLAM Sparse Bundle Adjustment
Wonju Lee, Dara Molloy, Abhilash Nand Kumar +5
In cuVSLAM, visual and inertial measurement unit (IMU) residuals are fused in sparse bundle adjustment (SBA) with a weighting fixed by pre-calibrated noise covariances, leaving no…
GATOR: Generative and Agentic 3D Object Reconstruction From Casual Images
Qirui Wu, Stan Birchfield, Hesam Rabeti +2
Reconstructing complete, scene-aligned 3D objects from casual images requires integrating sparse, uncertain observations and inferring surfaces hidden by occlusions. We present GAT…
SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing
Stone Tao, Jie Xu, Hesam Rabeti +3
Linear-deformable manipulation remains challenging due to the complex deformations of objects such as cables and ropes. Prior data-driven approaches, particularly imitation learnin…
Cosmos 3: Omnimodal World Models for Physical AI
NVIDIA, :, Aditi +293
We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-t…
Industrial cuVSLAM Benchmark & Integration
Charbel Abi Hana, Kameel Amareen, Mohamad Mostafa +5
This work presents a comprehensive benchmark evaluation of visual odometry (VO) and visual SLAM (VSLAM) systems for mobile robot navigation in real-world logistical environments. W…
3DGS-TR: Scalable Second-Order Trust-Region Method for 3D Gaussian Splatting
Roger Hsiao, Yuchen Fang, Xiangru Huang +6
We propose 3DGS-TR,a second-order optimizer for accelerating the scene training problem in 3D Gaussian Splatting (3DGS). Unlike existing second-order approaches that rely on ex…
CARI4D: Category Agnostic 4D Reconstruction of Human-Object Interaction
Xianghui Xie, Bowen Wen, Yan Chang +5
Accurate capture of human-object interaction from ubiquitous sensors like RGB cameras is important for applications in human understanding, gaming, and robot learning. However, inf…
ViPE: Video Pose Engine for 3D Geometric Perception
Jiahui Huang, Qunjie Zhou, Hesam Rabeti +12
Accurate 3D geometric perception is an important prerequisite for a wide range of spatial AI systems. While state-of-the-art methods depend on large-scale training data, acquiring…
cuVSLAM: CUDA accelerated visual odometry and mapping
Alexander Korovko, Dmitry Slepichev, Alexander Efitorov +5
Accurate and robust pose estimation is a key requirement for any autonomous robot. We present cuVSLAM, a state-of-the-art solution for visual simultaneous localization and mapping,…